OMY-L100

ROBOTIS · licence Apache-2.0 · source: github.com/ROBOTIS-GIT/open_manipulator @ bc555a9c4

What you are looking at is RobotDescription.from_urdf(original).to_urdf_string(): the reference implementation's re-serialisation of the original file, not the original file itself.

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robot.urdf

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content a1cdcdbf42d0821a -->
<robot name="omy_l100">
  <link name="world" />
  <joint name="world_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="link0" />
  </joint>
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0" />
  </material>
  <link name="link0">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/base_unit.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/base_unit.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.043449175 -0.0039924203 0.024388893" />
      <mass value="0.79117503" />
      <inertia ixx="0.0021771612" ixy="-0.00021404391" ixz="-0.00041543294" iyy="0.0045771431" iyz="4.3330488e-05" izz="0.0057343025" />
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <origin xyz="0.0 0.0 0.094" rpy="0.0 0.0 0.0" />
    <parent link="link0" />
    <child link="link1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="1.0" velocity="4.8" lower="-3.14159265359" upper="3.14159265359" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="link1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link1.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link1.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.015094777 -0.0029152531 -0.00058029327" />
      <mass value="0.1979262" />
      <inertia ixx="6.2365226e-05" ixy="-2.3381798e-07" ixz="3.416491e-07" iyy="9.4342296e-05" iyz="3.3483623e-07" izz="8.338957e-05" />
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <origin xyz="0.0 -0.0525 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link1" />
    <child link="link2" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1.0" velocity="4.8" lower="-3.14159265359" upper="3.14159265359" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="link2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link2.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link2.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-6.6509235e-05 0.0022442703 0.1334962" />
      <mass value="0.49547242" />
      <inertia ixx="0.0063981681" ixy="-7.3954672e-08" ixz="-1.9593893e-08" iyy="0.0063363675" iyz="8.8108892e-08" izz="0.00014701194" />
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <origin xyz="0.0 0.0 0.2658" rpy="0.0 0.0 0.0" />
    <parent link="link2" />
    <child link="link3" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1.0" velocity="4.8" lower="-3.14159265359" upper="3.14159265359" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="link3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link3.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link3.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00017428771 0.049723865 0.12400449" />
      <mass value="0.09866013" />
      <inertia ixx="0.00064610911" ixy="2.2744961e-08" ixz="9.8252974e-07" iyy="0.00064271022" iyz="-1.0224619e-05" izz="1.291516e-05" />
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <origin xyz="0.0 0.0525 0.222" rpy="0.0 0.0 0.0" />
    <parent link="link3" />
    <child link="link4" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1.0" velocity="4.8" lower="-3.14159265359" upper="3.14159265359" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="link4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link4.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link4.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2.6921263e-05 -0.035455461 0.00075765923" />
      <mass value="0.0266872" />
      <inertia ixx="4.9440199e-06" ixy="-2.9200298e-09" ixz="1.3438679e-09" iyy="2.2567035e-06" iyz="1.4882894e-07" izz="4.4783555e-06" />
    </inertial>
  </link>
  <joint name="joint5" type="revolute">
    <origin xyz="0.0 -0.046 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link4" />
    <child link="link5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="1.0" velocity="4.8" lower="-3.14159265359" upper="3.14159265359" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="link5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link5.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link5.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-2.6921263e-05 -0.00075765923 0.033955461" />
      <mass value="0.0266872" />
      <inertia ixx="4.9440199e-06" ixy="1.3438679e-09" ixz="-2.9200298e-09" iyy="4.4783555e-06" iyz="1.4882894e-07" izz="2.2567035e-06" />
    </inertial>
  </link>
  <joint name="joint6" type="revolute">
    <origin xyz="0.0 0.0 0.0445" rpy="0.0 0.0 0.0" />
    <parent link="link5" />
    <child link="link6" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1.0" velocity="4.8" lower="-3.14159265359" upper="3.14159265359" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="link6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link6.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link6.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0037567212 -0.077299588 -0.032079617" />
      <mass value="0.10912699" />
      <inertia ixx="0.00024565166" ixy="1.9566971e-05" ixz="-6.4079407e-06" iyy="0.00012581152" iyz="-1.6911154e-06" izz="0.00014593436" />
    </inertial>
  </link>
  <joint name="rh_r1_joint" type="revolute">
    <origin xyz="0.0 -0.125 -0.0255" rpy="0.0 0.0 0.0" />
    <parent link="link6" />
    <child link="link7" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1.0" velocity="4.8" lower="-3.14159265359" upper="3.14159265359" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="link7">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link7.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_l100/link7.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00026354677 -0.0020547867 -0.0087853268" />
      <mass value="0.0040609159" />
      <inertia ixx="7.5093441e-07" ixy="2.1991129e-09" ixz="9.4024163e-09" iyy="5.484008e-07" iyz="-9.9427818e-08" izz="2.3962266e-07" />
    </inertial>
  </link>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content a1cdcdbf42d0821a -->
<mujoco model="omy_l100">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="grey" rgba="0.2 0.2 0.2 1.0" />
    <mesh name="base_unit_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_l100/base_unit.stl" scale="0.001 0.001 0.001" />
    <mesh name="link1_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_l100/link1.stl" scale="0.001 0.001 0.001" />
    <mesh name="link2_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_l100/link2.stl" scale="0.001 0.001 0.001" />
    <mesh name="link3_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_l100/link3.stl" scale="0.001 0.001 0.001" />
    <mesh name="link4_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_l100/link4.stl" scale="0.001 0.001 0.001" />
    <mesh name="link5_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_l100/link5.stl" scale="0.001 0.001 0.001" />
    <mesh name="link6_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_l100/link6.stl" scale="0.001 0.001 0.001" />
    <mesh name="link7_0p001_0p001_0p001" file="open_manipulator_description/meshes/omy_l100/link7.stl" scale="0.001 0.001 0.001" />
  </asset>
  <worldbody>
    <body name="link0">
      <inertial pos="-0.043449175 -0.0039924203 0.024388893" mass="0.79117503" fullinertia="0.0021771612 0.0045771431 0.0057343025 -0.00021404391 -0.00041543294 4.3330488e-05" />
      <geom name="link0_vis_0" type="mesh" mesh="base_unit_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
      <geom name="link0_col_0" type="mesh" mesh="base_unit_0p001_0p001_0p001" group="3" />
      <body name="link1" pos="0.0 0.0 0.094">
        <joint name="joint1" type="hinge" axis="0.0 0.0 1.0" range="-3.14159265359 3.14159265359" />
        <inertial pos="-0.015094777 -0.0029152531 -0.00058029327" mass="0.1979262" fullinertia="6.2365226e-05 9.4342296e-05 8.338957e-05 -2.3381798e-07 3.416491e-07 3.3483623e-07" />
        <geom name="link1_vis_0" type="mesh" mesh="link1_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="link1_col_0" type="mesh" mesh="link1_0p001_0p001_0p001" group="3" />
        <body name="link2" pos="0.0 -0.0525 0.0">
          <joint name="joint2" type="hinge" axis="0.0 1.0 0.0" range="-3.14159265359 3.14159265359" />
          <inertial pos="-6.6509235e-05 0.0022442703 0.1334962" mass="0.49547242" fullinertia="0.0063981681 0.0063363675 0.00014701194 -7.3954672e-08 -1.9593893e-08 8.8108892e-08" />
          <geom name="link2_vis_0" type="mesh" mesh="link2_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
          <geom name="link2_col_0" type="mesh" mesh="link2_0p001_0p001_0p001" group="3" />
          <body name="link3" pos="0.0 0.0 0.2658">
            <joint name="joint3" type="hinge" axis="0.0 1.0 0.0" range="-3.14159265359 3.14159265359" />
            <inertial pos="-0.00017428771 0.049723865 0.12400449" mass="0.09866013" fullinertia="0.00064610911 0.00064271022 1.291516e-05 2.2744961e-08 9.8252974e-07 -1.0224619e-05" />
            <geom name="link3_vis_0" type="mesh" mesh="link3_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="link3_col_0" type="mesh" mesh="link3_0p001_0p001_0p001" group="3" />
            <body name="link4" pos="0.0 0.0525 0.222">
              <joint name="joint4" type="hinge" axis="0.0 1.0 0.0" range="-3.14159265359 3.14159265359" />
              <inertial pos="2.6921263e-05 -0.035455461 0.00075765923" mass="0.0266872" fullinertia="4.9440199e-06 2.2567035e-06 4.4783555e-06 -2.9200298e-09 1.3438679e-09 1.4882894e-07" />
              <geom name="link4_vis_0" type="mesh" mesh="link4_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="link4_col_0" type="mesh" mesh="link4_0p001_0p001_0p001" group="3" />
              <body name="link5" pos="0.0 -0.046 0.0">
                <joint name="joint5" type="hinge" axis="0.0 0.0 1.0" range="-3.14159265359 3.14159265359" />
                <inertial pos="-2.6921263e-05 -0.00075765923 0.033955461" mass="0.0266872" fullinertia="4.9440199e-06 4.4783555e-06 2.2567035e-06 1.3438679e-09 -2.9200298e-09 1.4882894e-07" />
                <geom name="link5_vis_0" type="mesh" mesh="link5_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                <geom name="link5_col_0" type="mesh" mesh="link5_0p001_0p001_0p001" group="3" />
                <body name="link6" pos="0.0 0.0 0.0445">
                  <joint name="joint6" type="hinge" axis="0.0 1.0 0.0" range="-3.14159265359 3.14159265359" />
                  <inertial pos="0.0037567212 -0.077299588 -0.032079617" mass="0.10912699" fullinertia="0.00024565166 0.00012581152 0.00014593436 1.9566971e-05 -6.4079407e-06 -1.6911154e-06" />
                  <geom name="link6_vis_0" type="mesh" mesh="link6_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                  <geom name="link6_col_0" type="mesh" mesh="link6_0p001_0p001_0p001" group="3" />
                  <body name="link7" pos="0.0 -0.125 -0.0255">
                    <joint name="rh_r1_joint" type="hinge" axis="1.0 0.0 0.0" range="-3.14159265359 3.14159265359" />
                    <inertial pos="-0.00026354677 -0.0020547867 -0.0087853268" mass="0.0040609159" fullinertia="7.5093441e-07 5.484008e-07 2.3962266e-07 2.1991129e-09 9.4024163e-09 -9.9427818e-08" />
                    <geom name="link7_vis_0" type="mesh" mesh="link7_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="grey" />
                    <geom name="link7_col_0" type="mesh" mesh="link7_0p001_0p001_0p001" group="3" />
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="link0" body2="link1" />
    <exclude body1="link1" body2="link2" />
    <exclude body1="link2" body2="link3" />
    <exclude body1="link3" body2="link4" />
    <exclude body1="link4" body2="link5" />
    <exclude body1="link5" body2="link6" />
    <exclude body1="link6" body2="link7" />
  </contact>
</mujoco>

Import report

Counts

Links	9
Joints	8
Moving joints	7
Visuals	8
Collisions	8
Materials	1

Meshes

Formats: stl.
Asset size: 4.1 MB.

Dropped on import

Nothing dropped: every tag in the original is carried.

Forward-kinematics check

Forward kinematics of 9 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 3.1e-16 rad.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 7).

Source & licence

Repository	https://github.com/ROBOTIS-GIT/open_manipulator
Commit	`bc555a9c41ebd7493dc945ddabc43fc649681b62`
Original file	`open_manipulator_description/urdf/omy_l100/omy_l100.urdf`
Licence	Apache-2.0 · the upstream LICENSE file
Files	robot.urdf · robot.xml

Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.